Miniature Fibre-Optic based Shape Sensing for Robotic Applications using Curved Reflectors

The development of miniature joint angle sensors is a crucial factor for the successful utilisation of various robotic applications in the healthcare and many other industries. This includes applications such as continuum robots used in minimally invasive surgery (MIS), prosthetics, wearable flexible devices, and many more [1]. Joint angle sensing in these applications, or more broadly, shape sensing, is required to accurately actuate and measure tip position and curvatures made by these robotic devices. To do this, a number of miniaturised joint angle sensors have been developed for integration into these applications, uti-lising various sensor types. Some examples include inertial, stretch, and FBG-based sensors [2].